diff --git a/include/hw/arm/xlnx-zynqmp.h b/include/hw/arm/xlnx-zynqmp.h
index 4cc97b46109..ae914807be5 100644
--- a/include/hw/arm/xlnx-zynqmp.h
+++ b/include/hw/arm/xlnx-zynqmp.h
@@ -22,6 +22,7 @@
 #include "hw/intc/arm_gic.h"
 #include "hw/net/cadence_gem.h"
 #include "hw/char/cadence_uart.h"
+#include "hw/net/xlnx-zynqmp-can.h"
 #include "hw/ide/ahci.h"
 #include "hw/sd/sdhci.h"
 #include "hw/ssi/xilinx_spips.h"
@@ -33,6 +34,7 @@
 #include "hw/cpu/cluster.h"
 #include "target/arm/cpu.h"
 #include "qom/object.h"
+#include "net/can_emu.h"
 
 #define TYPE_XLNX_ZYNQMP "xlnx,zynqmp"
 typedef struct XlnxZynqMPState XlnxZynqMPState;
@@ -43,6 +45,8 @@ DECLARE_INSTANCE_CHECKER(XlnxZynqMPState, XLNX_ZYNQMP,
 #define XLNX_ZYNQMP_NUM_RPU_CPUS 2
 #define XLNX_ZYNQMP_NUM_GEMS 4
 #define XLNX_ZYNQMP_NUM_UARTS 2
+#define XLNX_ZYNQMP_NUM_CAN 2
+#define XLNX_ZYNQMP_CAN_REF_CLK (24 * 1000 * 1000)
 #define XLNX_ZYNQMP_NUM_SDHCI 2
 #define XLNX_ZYNQMP_NUM_SPIS 2
 #define XLNX_ZYNQMP_NUM_GDMA_CH 8
@@ -94,6 +98,7 @@ struct XlnxZynqMPState {
 
     CadenceGEMState gem[XLNX_ZYNQMP_NUM_GEMS];
     CadenceUARTState uart[XLNX_ZYNQMP_NUM_UARTS];
+    XlnxZynqMPCANState can[XLNX_ZYNQMP_NUM_CAN];
     SysbusAHCIState sata;
     SDHCIState sdhci[XLNX_ZYNQMP_NUM_SDHCI];
     XilinxSPIPS spi[XLNX_ZYNQMP_NUM_SPIS];
@@ -114,6 +119,9 @@ struct XlnxZynqMPState {
     bool virt;
     /* Has the RPU subsystem?  */
     bool has_rpu;
+
+    /* CAN bus. */
+    CanBusState *canbus[XLNX_ZYNQMP_NUM_CAN];
 };
 
 #endif
diff --git a/hw/arm/xlnx-zcu102.c b/hw/arm/xlnx-zcu102.c
index 19d5a4d4e0e..cb0fba7975f 100644
--- a/hw/arm/xlnx-zcu102.c
+++ b/hw/arm/xlnx-zcu102.c
@@ -25,6 +25,7 @@
 #include "sysemu/qtest.h"
 #include "sysemu/device_tree.h"
 #include "qom/object.h"
+#include "net/can_emu.h"
 
 struct XlnxZCU102 {
     MachineState parent_obj;
@@ -34,6 +35,8 @@ struct XlnxZCU102 {
     bool secure;
     bool virt;
 
+    CanBusState *canbus[XLNX_ZYNQMP_NUM_CAN];
+
     struct arm_boot_info binfo;
 };
 typedef struct XlnxZCU102 XlnxZCU102;
@@ -127,6 +130,14 @@ static void xlnx_zcu102_init(MachineState *machine)
     object_property_set_bool(OBJECT(&s->soc), "virtualization", s->virt,
                              &error_fatal);
 
+    for (i = 0; i < XLNX_ZYNQMP_NUM_CAN; i++) {
+        gchar *bus_name = g_strdup_printf("canbus%d", i);
+
+        object_property_set_link(OBJECT(&s->soc), bus_name,
+                                 OBJECT(s->canbus[i]), &error_fatal);
+        g_free(bus_name);
+    }
+
     qdev_realize(DEVICE(&s->soc), NULL, &error_fatal);
 
     /* Create and plug in the SD cards */
@@ -222,6 +233,15 @@ static void xlnx_zcu102_machine_instance_init(Object *obj)
                                     "Set on/off to enable/disable emulating a "
                                     "guest CPU which implements the ARM "
                                     "Virtualization Extensions");
+    object_property_add_link(obj, "xlnx-zcu102.canbus0", TYPE_CAN_BUS,
+                             (Object **)&s->canbus[0],
+                             object_property_allow_set_link,
+                             0);
+
+    object_property_add_link(obj, "xlnx-zcu102.canbus1", TYPE_CAN_BUS,
+                             (Object **)&s->canbus[1],
+                             object_property_allow_set_link,
+                             0);
 }
 
 static void xlnx_zcu102_machine_class_init(ObjectClass *oc, void *data)
diff --git a/hw/arm/xlnx-zynqmp.c b/hw/arm/xlnx-zynqmp.c
index 7885bb17745..881847255b4 100644
--- a/hw/arm/xlnx-zynqmp.c
+++ b/hw/arm/xlnx-zynqmp.c
@@ -81,6 +81,14 @@ static const int uart_intr[XLNX_ZYNQMP_NUM_UARTS] = {
     21, 22,
 };
 
+static const uint64_t can_addr[XLNX_ZYNQMP_NUM_CAN] = {
+    0xFF060000, 0xFF070000,
+};
+
+static const int can_intr[XLNX_ZYNQMP_NUM_CAN] = {
+    23, 24,
+};
+
 static const uint64_t sdhci_addr[XLNX_ZYNQMP_NUM_SDHCI] = {
     0xFF160000, 0xFF170000,
 };
@@ -243,6 +251,11 @@ static void xlnx_zynqmp_init(Object *obj)
                                 TYPE_CADENCE_UART);
     }
 
+    for (i = 0; i < XLNX_ZYNQMP_NUM_CAN; i++) {
+        object_initialize_child(obj, "can[*]", &s->can[i],
+                                TYPE_XLNX_ZYNQMP_CAN);
+    }
+
     object_initialize_child(obj, "sata", &s->sata, TYPE_SYSBUS_AHCI);
 
     for (i = 0; i < XLNX_ZYNQMP_NUM_SDHCI; i++) {
@@ -482,6 +495,23 @@ static void xlnx_zynqmp_realize(DeviceState *dev, Error **errp)
                            gic_spi[uart_intr[i]]);
     }
 
+    for (i = 0; i < XLNX_ZYNQMP_NUM_CAN; i++) {
+        object_property_set_int(OBJECT(&s->can[i]), "ext_clk_freq",
+                                XLNX_ZYNQMP_CAN_REF_CLK, &error_abort);
+
+        object_property_set_link(OBJECT(&s->can[i]), "canbus",
+                                 OBJECT(s->canbus[i]), &error_fatal);
+
+        sysbus_realize(SYS_BUS_DEVICE(&s->can[i]), &err);
+        if (err) {
+            error_propagate(errp, err);
+            return;
+        }
+        sysbus_mmio_map(SYS_BUS_DEVICE(&s->can[i]), 0, can_addr[i]);
+        sysbus_connect_irq(SYS_BUS_DEVICE(&s->can[i]), 0,
+                           gic_spi[can_intr[i]]);
+    }
+
     object_property_set_int(OBJECT(&s->sata), "num-ports", SATA_NUM_PORTS,
                             &error_abort);
     if (!sysbus_realize(SYS_BUS_DEVICE(&s->sata), errp)) {
@@ -619,6 +649,10 @@ static Property xlnx_zynqmp_props[] = {
     DEFINE_PROP_BOOL("has_rpu", XlnxZynqMPState, has_rpu, false),
     DEFINE_PROP_LINK("ddr-ram", XlnxZynqMPState, ddr_ram, TYPE_MEMORY_REGION,
                      MemoryRegion *),
+    DEFINE_PROP_LINK("canbus0", XlnxZynqMPState, canbus[0], TYPE_CAN_BUS,
+                     CanBusState *),
+    DEFINE_PROP_LINK("canbus1", XlnxZynqMPState, canbus[1], TYPE_CAN_BUS,
+                     CanBusState *),
     DEFINE_PROP_END_OF_LIST()
 };
 
